High Precision Position Control based on Active Disturbance Rejection Control for Galvanometer Scanner System

2019 ◽  
Author(s):  
Qin Wenyuan ◽  
Guo Hong ◽  
Xu Jinquan ◽  
Liu Lumi
Keyword(s):  
High Precision ◽  
Disturbance Rejection ◽  
Position Control ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Galvanometer Scanner

Active Disturbance Rejection Control in Airborne Direct Drive Electro Mechanical Actuator Application

2014 ◽  
Vol 551 ◽  
pp. 541-547
Author(s):  
He Song Liu ◽  
Yong Ling Fu ◽  
Juan Chen ◽  
Hui Chen
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dynamic Performance ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Direct Drive ◽  
Active Disturbance Rejection ◽  
Load Disturbance ◽  
Disturbance Rejection Control ◽  
Actuator Application

A novel active disturbance rejection control (ADRC) strategy is presented to improve position control performance of airborne direct drive electro-mechanical actuator (EMA). To begin with, kinematics model of the direct drive EMA is deduced for simulation benefits. Then, an ADRC controller is designed to implement the position control. Finally, simulation work is put forward to verify the steady-state precision, dynamic performance and load disturbance rejection ability, accounting for over-running load. The results verify that the ADRC-based EMA servo system is fast, precise, of no overshoot and strongly robust to load disturbance.

High-precision trajectory tracking design and simulation for six degree of freedom robot based on improved active disturbance rejection control

2018 ◽  
Vol 233 (10) ◽  
pp. 3659-3669 ◽  
Author(s):  
Fengjun Chen ◽  
Jinqi Liao ◽  
Jun Xiong ◽  
Shaohui Yin ◽  
Shuai Huang ◽  
...  
Keyword(s):  
High Precision ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Degree Of Freedom ◽  
Experimental Simulation ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

High-precision trajectory tracking control is an important factor in the performance of industrial robots. In this study, a high-precision trajectory tracking strategy was proposed for controlling a degree of freedom serial robot on the basis of improved active disturbance rejection control. An independent control strategy of a single joint was adopted, and the corresponding decoupling control law was designed. An attitude trajectory-planning algorithm based on the circular-blending quaternion curve was improved. The position and attitude trajectories were transformed into the joint trajectory by using a kinematics equation and inverse velocity Jacobian matrix. The above-mentioned transformation link was used as a preprocessing link of the active disturbance rejection control, which is used for replacing the tracking differentiator of a typical active disturbance rejection control to eliminate the effect of the tracking delay. An experimental simulation was conducted by combining MATLAB and ADAMS. Simulation results show that the proposed control strategy can perform the tracking control of a task-space trajectory. The tracking precision of position and attitude trajectories were 0.01 mm and 0.01 s, respectively.

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